NXT FlexiPicker Sorting Coloured Balls

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This Lego Mindstorms NXT FlexiPicker is based on the ABB IRB 360 FlexPicker. The IRB 360 FlexPicker™, is the SECOND GENERATION delta robot for precision pick and place applications. The RB 360 FlexPicker™ has outstanding motion performance with shortest cycle times at high accuracy, and with upto a 3Kg payload. The IRB 360 is designed to work in food industry applications.

Lego NXT FlexiPicker Sorting Coloured Balls

After a couple of test runs the engineer/mechanical issues have been ironed out. This time the FlexiPicker is Sorting Coloured Balls, via the claw/grabber which users an 8gram RC type mini-Servo and is controlled via a Mindsensors 8 Channel Servo Controller (NXTServo-v2). The NXTServo-v2 can control up to 8 RC servos via a single NXT Sensor Port & external 5-6V power supply.The ball Delivery Mechanism is also controlled via 8gram RC type mini-Servo. It picks up a coloured ball then places (drops) it in one of the four areas equivalent to it’s colour.

Watch the NXT FlexiPicker Sorting Coloured Balls

It works rather well, but still could do with some software refinement and a little more testing. But I am very happy with the resultl I’ve achieved so far. I have used Vector Mathematics to transfer the X-Y co-ordinates from the Joystick to control the 3x NXT Motors. It’s improving as time goes.

NXC Source Code:

Download NXC Source Code:

 

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Close-up of FlexiPicker Sorting

A close-up of my Lego Mindstorms NXT FlexiPicker sorting coloured balls. The is based on the ABB IRB 360 FlexPicker. The IRB 360 FlexPicker™, is the SECOND GENERATION delta robot ... Read more

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